Parallel parking is challenge for all drivers say amateurs or the experts. An automatic car parking system is a solution to this ordeal. This vehicular technology has been implemented using many other systems but a cost effective, simple and accurate solution will be greatly appreciated. This paper explains in detail a simple and precise autonomous carparking algorithm for Ackerman steering configuration. A twopart trajectory-planning algorithm consists of the steering planning and simple... Topics: Automatic Parking System, Path Planning, Tracking Algorithm, Parallel Parking, Parking Sensors.